Hi everyone! As a part of my Ph.D. research, I redesigned the electronics tube of a BlueROV2 Heavy to make it usable as a tetherless AUV for manipulation with a custom designed gripper. You can see it in action on youtube here!
Here’s a picture of the reworked electronics tube. Basically none of the electronics are the same as the ones that ship with the ROV. The key features as a FLIR blackfly S usb3 machine vision camera, and an UpSquared main computer that give it more punch for rapidly processing high quality raw image frames. The CAD files for ordering a copy of the Delrin mounting plate / a parts list of electronics are available on our lab Github: GitHub - dartmouthrobotics/underwater-assembly-auv: Repository containing parts list and CAD files to retrofit a BlueROV2 for improved autonomous operation
You can see more details about the build in this article I wrote about the design process!
I’d be happy to work with people who want to replicate or improve the design, so please get in touch.